Grasping with Embedded Synergies through a Reconfigurable Electric Actuation Topology
Éamon Barrett,Zeyu Ren,Nikos Tsagarakis,Éamon Barrett,Zeyu Ren,Nikos Tsagarakis
Kinematic and force synergies can be used to reduce the complexity and dimensionality of the motion generation and control problem, as well as facilitate the mechanical implementation of robotic hands. In this paper we present a novel implementation of hardware synergies realized on the actuation level by leveraging a novel reconfigurable electric actuation topology principle. The proposed electri...
